---
license: mit
library_name: litert
pipeline_tag: image-classification
tags:
  - litert
  - tflite
  - android
  - on-device
  - gpu
  - head-pose-estimation
  - face
  - driver-monitoring
  - real-time
---

# 6DRepNet — Head pose estimation (LiteRT GPU)

On-device **6-DoF head pose estimation** running **fully on the LiteRT `CompiledModel`
GPU** delegate (no CPU fallback). [6DRepNet](https://github.com/thohemp/6DRepNet)
(ICIP 2022) regresses a continuous 6D rotation from a face crop — yaw / pitch / roll for
driver-monitoring, AR, and attention. ~21 ms/frame on a Pixel 8a.

- **Architecture:** RepVGG-B1g2 backbone (deploy/re-parameterized) + 6D rotation head — pure CNN.
- **Weights:** [thohemp/6DRepNet](https://github.com/thohemp/6DRepNet) (300W-LP) · MIT.
- **Size:** 157 MB.

![6DRepNet head pose](hero.png)

*3D head-pose axes + yaw/pitch/roll on a face crop. Portrait: Unsplash (free license).*

## I/O

- **Input:** `[1, 3, 224, 224]` NCHW, RGB, ImageNet-normalized (a **face crop**;
  use a face detector, or a centered crop for a frontal demo).
- **Output:** `[1, 6]` — a continuous 6D rotation representation.

## Host-side decode (6D → Euler)

Gram-Schmidt the 6D into a 3×3 rotation matrix, then read the Euler angles:

```
x = normalize(v[0:3]);  z = normalize(cross(x, v[3:6]));  y = cross(z, x)   # R = [x|y|z]
pitch = atan2(R21, R22);  yaw = atan2(-R20, sqrt(R00^2+R10^2));  roll = atan2(R10, R00)
```

## GPU conversion

6DRepNet (deploy-mode RepVGG = plain 3×3 convs + ReLU) is a pure CNN → fully
GPU-compatible (**36/36 nodes on the delegate, 1 partition**; device corr 0.9993, ~21 ms)
with **zero patches**. The 6D→rotation→Euler decode runs host-side. Use the **deploy**
weights (fused `rbr_reparam`), not the training-mode branches. CPU-exact vs PyTorch (corr 1.0).

## Minimal usage

### Kotlin (Android, LiteRT CompiledModel GPU)

```kotlin
val options = CompiledModel.Options(Accelerator.GPU)
val model = CompiledModel.create(context.assets, "6drepnet.tflite", options, null)
val inBufs = model.createInputBuffers()
val outBufs = model.createOutputBuffers()

inBufs[0].writeFloat(faceCropNCHW)       // [1,3,224,224] RGB, ImageNet-norm
model.run(inBufs, outBufs)
val v = outBufs[0].readFloat()           // [6]; Gram-Schmidt -> R -> yaw/pitch/roll (see above)
```

### Python (LiteRT / ai-edge-litert)

```python
import numpy as np
from ai_edge_litert.interpreter import Interpreter

it = Interpreter(model_path="6drepnet.tflite"); it.allocate_tensors()
inp, out = it.get_input_details(), it.get_output_details()
it.set_tensor(inp[0]["index"], x)        # [1,3,224,224] float32, RGB, ImageNet-norm
it.invoke()
v = it.get_tensor(out[0]["index"])[0]    # [6] -> Gram-Schmidt -> rotation matrix -> Euler
```

## Conversion

Converted with **litert-torch** (`build_6drepnet.py`): loads the deploy-mode RepVGG weights
and exports the 6D head (input face crop → 6D).

## License

MIT (6DRepNet / thohemp). Trained on 300W-LP.